说明：  状态空间方程是现代控制理论的基础,在预测控制算法中,当系统釆用状态方程表达式时,不需要像求解广义预测控制律一样在线求解Diophantine方程,并且使得MIMO系统的系统表达和公式的推导更为简洁和直观,有利于预测控制方法的稳定性分析,已被越来越的人所采用.
(State space equation is the basis of modern control theory, predictive control algorithm, when the system adopts an expression with the equation of state, it does not need to be like solving generalized predictive control law as line solving Diophantine equations and formulas and makes the expression system of the MIMO system derivation more concise and intuitive, predictive control method is conducive to the stability analysis, it has been adopted by more and more people.)